Experiments on robotic multi-agent system for hose deployment and transportation

Abstract

This paper reports an experimental proof-of-concept of a new paradigm in the general field of Multi-Agent Systems, a Linked Multi-component Robotic System. The prototype system realizes a basic task in the general framework of a multi-robot hose transportation system: the trasportation along a linear trajectory. Even this simple task illustrates some complexities inherent to the general task of hose transportation. Artificial Vision is used to perceive the state of the system composed of the agents and the hose. The robotic agents are autonomously controlled by means of an scalable control heuristic. The system is able to deploy and transport a passive object simulating a hose in straight line, avoiding the formation of loops and dragging between robots.